version: 66.12
glider: 401
mission: 20
dive: 356
start: 5 4 117 4 10 20
data:
$ID,401
$MISSION,20
$DIVE,356
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,100
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,1821.9492
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,9
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.144318
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,040517,035438,5650.6367,-16448.3242,3,0.9,53,11.1,0.0,0.0,11,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-35.9
$GPS2,040517,040918,5650.5015,-16448.5938,4,0.8,26,11.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.626,-16429.166
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.311058,0.220280
$KALMAN_X,-10090.923828,535.740845,201.166229,66285.500000,-283.745026
$KALMAN_Y,29055.726562,-584.414124,-200.872894,-72843.742188,-280.374481
$MHEAD_RNG_PITCHd_Wd,88.9,20000,-10.5,-9.667,-14.22,7537
$D_GRID,58
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,230,2176,1594,4094,0.0,0.0,0,33,0.00,0.00,-9.77,0.000,16390,0.000,0.000,231,2177,2738,2738,4094,0,0,0,0,0,0,26.25,25.37,26.26,9.93,36.73
$GC,35,-1.95,-488.8,231,2177,2738,4095,1.1,0.0,1,68,19.02,2.17,-0.03,0.000,18948,0.400,4.045,1744,1409,2754,2754,4094,0,0,0,0,0,0,25.67,24.24,25.22,10.17,37.04
$GC,312,-1.95,-488.8,1743,1409,2762,4095,54.5,-16.5,23,327,0.00,1.95,0.00,0.000,1030,0.000,0.122,1744,2167,2762,2762,4095,0,0,0,0,0,0,25.88,25.83,25.91,10.17,36.10
$STATE,342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,342,begin apogee
$GC,347,-0.56,0.0,1744,2052,2763,4094,59.4,-16.2,25,385,5.07,0.00,29.23,4.477,10246,0.226,0.000,2192,2052,2174,2174,4094,0,0,0,0,0,0,25.82,24.91,23.75,10.17,36.02
$STATE,386,end apogee,CONTROL_FINISHED_OK
$STATE,386,begin climb
$GC,388,1.95,488.8,2192,2052,2174,4094,63.4,0.0,27,439,8.70,0.00,28.80,4.387,10246,0.127,0.000,2982,2051,1603,1603,4094,0,0,0,0,0,0,25.26,24.20,23.43,10.05,35.86
$GC,502,1.95,488.8,2982,2051,1601,4095,53.0,14.7,35,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,1601,1601,4095,0,0,0,0,0,0,25.47,25.48,25.48,9.94,35.27
$GC,582,1.95,488.8,2982,2051,1598,4094,40.3,15.8,41,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,1598,1598,4094,0,0,0,0,0,0,25.69,25.70,25.70,9.94,35.46
$GC,663,1.95,488.8,2982,2051,1595,4094,28.1,14.4,47,678,0.00,1.95,0.00,0.000,516,0.000,0.199,2982,1339,1595,1595,4094,0,0,0,0,0,0,25.83,25.46,25.84,9.94,35.07
$GC,718,1.95,488.8,2982,1339,1594,4094,20.1,14.5,51,733,0.00,1.88,0.00,0.000,1030,0.000,0.107,2982,2073,1594,1594,4094,0,0,0,0,0,0,25.65,25.60,25.68,9.93,35.94
$GC,796,1.95,488.8,2982,2073,1591,4094,9.5,14.1,57,814,0.00,2.10,0.00,0.000,260,0.000,0.216,2983,2824,1590,1590,4094,0,0,0,0,0,0,25.99,25.63,26.01,9.94,36.06
$STATE,828,end climb,FINISH_DEPTH_REACHED
$STATE,828,begin subsurface finish
$FINISH1,4.0,1.025203,-154
$GC,836,-0.25,-154.2,2982,2090,1590,4094,4.0,15.4,59,866,7.55,2.20,-6.47,0.000,20996,0.236,4.119,2323,1323,2358,2358,4094,0,0,0,0,0,0,25.69,24.18,25.74,9.94,35.66
$FINISH2,0.7
$STATE,867,end subsurface finish,CONTROL_FINISHED_OK
$STATE,867,begin surface
$IRIDIUM_FIX,5554.28,-16243.85,040517,040146
$TT8_MAMPS,0.026215,0.253911
$HUMID,35.70
$INTERNAL_PRESSURE,10.0332
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,13.1
$24V_AH,23.43,35.029
$10V_AH,8.65,16.862
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,40.350,14.400,58.025,0.000,0.000,118.059,182.450,204.013,0.500,0.000,27.541,228.075,239.294,93.536,1128.641,80.020,33.439,316.801,0.000,597.080,0.000,8.710,0.000
$DEVICE_MAMPS,399.763,4119.297,4476.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.275,78.143,131.143,330.359,573.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3931,61
$CAP_FILE_SIZE,24386,8
$CFSIZE,1024409600,1000996864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,040918,5650.501,-16448.594,4,0.8,26,11.1,0.0,0.0,11,5.0